Investigation of Snake Robot Locomotion Possibilities in a Pipe

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F20%3A10245004" target="_blank" >RIV/61989100:27230/20:10245004 - isvavai.cz</a>

Result on the web

<a href="https://www.mdpi.com/2073-8994/12/6/939/htm" target="_blank" >https://www.mdpi.com/2073-8994/12/6/939/htm</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/sym12060939" target="_blank" >10.3390/sym12060939</a>

Result language

angličtina

Original language name

Investigation of Snake Robot Locomotion Possibilities in a Pipe

Original language description

This paper analyzed the locomotion of a snake robot in narrow spaces such as a pipe or channel. We developed a unique experimental snake robot with one revolute and one linear joint on each module, with the ability to perform planar motion. The designed locomotion pattern was simulated in MATLAB R2015b and subsequently verified by the experimental snake robot. The locomotion of the developed snake robot was also experimentally analyzed on dry and viscous surfaces. The paper further describes the investigation of locomotion stability by three symmetrical curves used to anchor static modules between the walls of the pipe. The stability was experimentally analyzed by digital image correlation using a Q-450 Dantec Dynamics high-speed correlation system. The paper presents some input symmetrical elements of locomotion and describes their influence on the results of locomotion. The results of simulations and experiments show possibilities of snake robot locomotion in a pipe.

Czech name

—

Czech description

—

Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

—

OECD FORD branch

20301 - Mechanical engineering

Project

<a href="/en/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Research Centre of Advanced Mechatronic Systems</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2020

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Symmetry

ISSN

2073-8994

e-ISSN

—

Volume of the periodical

12

Issue of the periodical within the volume

6

Country of publishing house

CH - SWITZERLAND

Number of pages

25

Pages from-to

25

UT code for WoS article

000550813800001

EID of the result in the Scopus database

2-s2.0-85087441294